void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj)
{
CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
Mat traj;
_traj.getMat().convertTo(traj, CV_64F);
const Affine3d* dpath = traj.ptr<Affine3d>();
size_t total = traj.total();
points = vtkSmartPointer<vtkPoints>::New();
points->SetDataType(VTK_DOUBLE);
points->SetNumberOfPoints((vtkIdType)total);
tensors = vtkSmartPointer<vtkDoubleArray>::New();
tensors->SetNumberOfComponents(9);
tensors->SetNumberOfTuples((vtkIdType)total);
for(size_t i = 0; i < total; ++i, ++dpath)
{
Matx33d R = dpath->rotation().t(); // transposed because of
tensors->SetTuple((vtkIdType)i, R.val); // column major order
Vec3d p = dpath->translation();
points->SetPoint((vtkIdType)i, p.val);
}
}
void calcPosition( InputArray _tvecs, InputArray _rvecs, InputArray _pts,
InputArray _cameraMatrices, InputArray _distortionMatrices,
OutputArray _state, OutputArray _covariance )
{
Ptr< PositionCalculator > p_pc = PositionCalculator::create();
std::vector< Mat > tvecs, rvecs;
_tvecs.getMatVector( tvecs );
_rvecs.getMatVector( rvecs );
CV_Assert( tvecs.size() >= 2 );
CV_Assert( tvecs.size() == rvecs.size() );
Mat pts = _pts.getMat();
CV_Assert( ( tvecs.size() == pts.checkVector( 2, CV_32F, true ) ) );
std::vector< Mat > camera_m, dist_m;
if ( _cameraMatrices.kind() == _InputArray::STD_VECTOR_MAT )
{
_cameraMatrices.getMatVector( camera_m );
CV_Assert( tvecs.size() == camera_m.size() );
}
else
{
camera_m.push_back( _cameraMatrices.getMat() );
CV_Assert( ( camera_m[0].rows == 3 ) && ( camera_m[0].cols == 3 ) );
}
if ( _distortionMatrices.kind() == _InputArray::STD_VECTOR_MAT )
{
_distortionMatrices.getMatVector( dist_m );
CV_Assert( tvecs.size() == dist_m.size() );
}
else
{
dist_m.push_back( _distortionMatrices.getMat() );
CV_Assert( ( ( dist_m[0].rows == 5 ) && ( dist_m[0].cols == 1 ) ) || dist_m[0].empty() );
}
Mat camera = camera_m[0];
Mat dist = dist_m[0];
for ( size_t i = 0; i < tvecs.size(); ++i )
{
if ( camera_m.size() == tvecs.size() )
camera = camera_m[i];
if ( dist_m.size() == tvecs.size() )
dist = dist_m[i];
p_pc->addMeasurement( tvecs[i], rvecs[i], pts.at< Point2f >( i ), camera, dist );
}
p_pc->computeState( _state, _covariance );
}
void cv::superres::arrCopy(InputArray src, OutputArray dst)
{
if (dst.isUMat() || src.isUMat())
{
src.copyTo(dst);
return;
}
typedef void (*func_t)(InputArray src, OutputArray dst);
static const func_t funcs[10][10] =
{
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
{ 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
{ 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
{ 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
{ 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
{ 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
{ 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
{ 0, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, 0, buf2arr },
{ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
{ 0, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, arr2buf, 0 , gpu2gpu },
};
const int src_kind = src.kind() >> _InputArray::KIND_SHIFT;
const int dst_kind = dst.kind() >> _InputArray::KIND_SHIFT;
CV_Assert( src_kind >= 0 && src_kind < 10 );
CV_Assert( dst_kind >= 0 && dst_kind < 10 );
const func_t func = funcs[src_kind][dst_kind];
CV_Assert( func != 0 );
func(src, dst);
}
cv::ogl::Buffer::Buffer(InputArray arr, Target target, bool autoRelease) : rows_(0), cols_(0), type_(0)
{
#ifndef HAVE_OPENGL
(void) arr;
(void) target;
(void) autoRelease;
throw_no_ogl();
#else
const int kind = arr.kind();
switch (kind)
{
case _InputArray::OPENGL_BUFFER:
case _InputArray::GPU_MAT:
copyFrom(arr, target, autoRelease);
break;
default:
{
Mat mat = arr.getMat();
CV_Assert( mat.isContinuous() );
const GLsizeiptr asize = mat.rows * mat.cols * mat.elemSize();
impl_.reset(new Impl(asize, mat.data, target, autoRelease));
rows_ = mat.rows;
cols_ = mat.cols;
type_ = mat.type();
break;
}
}
#endif
}
void cv::superres::arrCopy(InputArray src, OutputArray dst)
{
typedef void (*func_t)(InputArray src, OutputArray dst);
static const func_t funcs[10][10] =
{
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
{0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
{0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
{0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
{0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
{0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
{0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
{0, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr},
{0, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr},
{0, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, arr2buf, arr2tex, gpu2gpu}
};
const int src_kind = src.kind() >> _InputArray::KIND_SHIFT;
const int dst_kind = dst.kind() >> _InputArray::KIND_SHIFT;
CV_DbgAssert( src_kind >= 0 && src_kind < 10 );
CV_DbgAssert( dst_kind >= 0 && dst_kind < 10 );
const func_t func = funcs[src_kind][dst_kind];
CV_DbgAssert( func != 0 );
func(src, dst);
}
cv::GlBuffer::GlBuffer(InputArray mat_, Usage _usage) : rows_(0), cols_(0), type_(0), usage_(_usage)
{
#ifndef HAVE_OPENGL
(void)mat_;
(void)_usage;
throw_nogl;
#else
int kind = mat_.kind();
Size _size = mat_.size();
int _type = mat_.type();
if (kind == _InputArray::GPU_MAT)
{
#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
throw_nocuda;
#else
GpuMat d_mat = mat_.getGpuMat();
impl_ = new Impl(d_mat.rows, d_mat.cols, d_mat.type(), _usage);
impl_->copyFrom(d_mat);
#endif
}
else
{
Mat mat = mat_.getMat();
impl_ = new Impl(mat, _usage);
}
rows_ = _size.height;
cols_ = _size.width;
type_ = _type;
#endif
}
void cv::imshow( const String& winname, InputArray _img )
{
CV_TRACE_FUNCTION();
const Size size = _img.size();
#ifndef HAVE_OPENGL
CV_Assert(size.width>0 && size.height>0);
{
Mat img = _img.getMat();
CvMat c_img = cvMat(img);
cvShowImage(winname.c_str(), &c_img);
}
#else
const double useGl = getWindowProperty(winname, WND_PROP_OPENGL);
CV_Assert(size.width>0 && size.height>0);
if (useGl <= 0)
{
Mat img = _img.getMat();
CvMat c_img = cvMat(img);
cvShowImage(winname.c_str(), &c_img);
}
else
{
const double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
if (autoSize > 0)
{
resizeWindow(winname, size.width, size.height);
}
setOpenGlContext(winname);
cv::ogl::Texture2D& tex = ownWndTexs[winname];
if (_img.kind() == _InputArray::CUDA_GPU_MAT)
{
cv::ogl::Buffer& buf = ownWndBufs[winname];
buf.copyFrom(_img);
buf.setAutoRelease(false);
tex.copyFrom(buf);
tex.setAutoRelease(false);
}
else
{
tex.copyFrom(_img);
}
tex.setAutoRelease(false);
setOpenGlDrawCallback(winname, glDrawTextureCallback, &tex);
updateWindow(winname);
}
#endif
}
cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj)
{
CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
Mat points(1, (int)_traj.total(), CV_MAKETYPE(_traj.depth(), 3));
const Affine3d* dpath = _traj.getMat().ptr<Affine3d>();
const Affine3f* fpath = _traj.getMat().ptr<Affine3f>();
if (_traj.depth() == CV_32F)
for(int i = 0; i < points.cols; ++i)
points.at<Vec3f>(i) = fpath[i].translation();
if (_traj.depth() == CV_64F)
for(int i = 0; i < points.cols; ++i)
points.at<Vec3d>(i) = dpath[i].translation();
return points;
}
void cv::ogl::Arrays::setColorArray(InputArray color)
{
const int cn = color.channels();
CV_Assert( cn == 3 || cn == 4 );
if (color.kind() == _InputArray::OPENGL_BUFFER)
color_ = color.getOGlBuffer();
else
color_.copyFrom(color);
}
Mat getMat(InputArray arr)
{
if (arr.kind() == _InputArray::GPU_MAT)
{
Mat m;
arr.getGpuMat().download(m);
return m;
}
return arr.getMat();
}
void cv::ogl::Buffer::copyFrom(InputArray arr, Target target, bool autoRelease)
{
#ifndef HAVE_OPENGL
(void) arr;
(void) target;
(void) autoRelease;
throw_nogl();
#else
const int kind = arr.kind();
if (kind == _InputArray::OPENGL_TEXTURE)
{
ogl::Texture2D tex = arr.getOGlTexture2D();
tex.copyTo(*this);
setAutoRelease(autoRelease);
return;
}
const Size asize = arr.size();
const int atype = arr.type();
create(asize, atype, target, autoRelease);
switch (kind)
{
case _InputArray::OPENGL_BUFFER:
{
ogl::Buffer buf = arr.getOGlBuffer();
impl_->copyFrom(buf.bufId(), asize.area() * CV_ELEM_SIZE(atype));
break;
}
case _InputArray::GPU_MAT:
{
#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
throw_nocuda();
#else
GpuMat dmat = arr.getGpuMat();
impl_->copyFrom(dmat.data, dmat.step, dmat.cols * dmat.elemSize(), dmat.rows);
#endif
break;
}
default:
{
Mat mat = arr.getMat();
CV_Assert( mat.isContinuous() );
impl_->copyFrom(asize.area() * CV_ELEM_SIZE(atype), mat.data);
}
}
#endif
}
void cv::ogl::Arrays::setNormalArray(InputArray normal)
{
const int cn = normal.channels();
const int depth = normal.depth();
CV_Assert( cn == 3 );
CV_Assert( depth == CV_8S || depth == CV_16S || depth == CV_32S || depth == CV_32F || depth == CV_64F );
if (normal.kind() == _InputArray::OPENGL_BUFFER)
normal_ = normal.getOGlBuffer();
else
normal_.copyFrom(normal);
}
void cv::ogl::Arrays::setTexCoordArray(InputArray texCoord)
{
const int cn = texCoord.channels();
const int depth = texCoord.depth();
CV_Assert( cn >= 1 && cn <= 4 );
CV_Assert( depth == CV_16S || depth == CV_32S || depth == CV_32F || depth == CV_64F );
if (texCoord.kind() == _InputArray::OPENGL_BUFFER)
texCoord_ = texCoord.getOGlBuffer();
else
texCoord_.copyFrom(texCoord);
}
void cv::viz::writeTrajectory(InputArray _traj, const String& files_format, int start, const String& tag)
{
if (_traj.kind() == _InputArray::STD_VECTOR_MAT)
{
#if CV_MAJOR_VERSION < 3
std::vector<Mat>& v = *(std::vector<Mat>*)_traj.obj;
#else
std::vector<Mat>& v = *(std::vector<Mat>*)_traj.getObj();
#endif
for(size_t i = 0, index = max(0, start); i < v.size(); ++i, ++index)
{
Affine3d affine;
Mat pose = v[i];
CV_Assert(pose.type() == CV_32FC(16) || pose.type() == CV_64FC(16));
pose.copyTo(affine.matrix);
writePose(cv::format(files_format.c_str(), index), affine, tag);
}
return;
}
if (_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT)
{
CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));
Mat traj = _traj.getMat();
if (traj.depth() == CV_32F)
for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
writePose(cv::format(files_format.c_str(), index), traj.at<Affine3f>((int)i), tag);
if (traj.depth() == CV_64F)
for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
writePose(cv::format(files_format.c_str(), index), traj.at<Affine3d>((int)i), tag);
return;
}
CV_Error(Error::StsError, "Unsupported array kind");
}
void cv::ogl::Arrays::setVertexArray(InputArray vertex)
{
const int cn = vertex.channels();
const int depth = vertex.depth();
CV_Assert( cn == 2 || cn == 3 || cn == 4 );
CV_Assert( depth == CV_16S || depth == CV_32S || depth == CV_32F || depth == CV_64F );
if (vertex.kind() == _InputArray::OPENGL_BUFFER)
vertex_ = vertex.getOGlBuffer();
else
vertex_.copyFrom(vertex);
size_ = vertex_.size().area();
}
UMat cv::superres::arrGetUMat(InputArray arr, UMat& buf)
{
switch (arr.kind())
{
case _InputArray::CUDA_GPU_MAT:
arr.getGpuMat().download(buf);
return buf;
case _InputArray::OPENGL_BUFFER:
arr.getOGlBuffer().copyTo(buf);
return buf;
default:
return arr.getUMat();
}
}
GpuMat cv::superres::arrGetGpuMat(InputArray arr, GpuMat& buf)
{
switch (arr.kind())
{
case _InputArray::GPU_MAT:
return arr.getGpuMat();
case _InputArray::OPENGL_BUFFER:
arr.getOGlBuffer().copyTo(buf);
return buf;
default:
buf.upload(arr.getMat());
return buf;
}
}
void cv::GlTexture::copyFrom(InputArray mat_, bool bgra)
{
#ifndef HAVE_OPENGL
(void)mat_;
(void)bgra;
throw_nogl;
#else
int kind = mat_.kind();
Size _size = mat_.size();
int _type = mat_.type();
create(_size, _type);
switch(kind)
{
case _InputArray::OPENGL_TEXTURE:
{
GlTexture tex = mat_.getGlTexture();
*this = tex;
break;
}
case _InputArray::OPENGL_BUFFER:
{
GlBuffer buf = mat_.getGlBuffer();
impl_->copyFrom(buf, bgra);
break;
}
case _InputArray::GPU_MAT:
{
#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
throw_nocuda;
#else
GpuMat d_mat = mat_.getGpuMat();
buf_.copyFrom(d_mat);
impl_->copyFrom(buf_, bgra);
#endif
break;
}
default:
{
Mat mat = mat_.getMat();
impl_->copyFrom(mat, bgra);
}
}
#endif
}
static bool ocl_norm( InputArray _src, int normType, InputArray _mask, double & result )
{
const ocl::Device & d = ocl::Device::getDefault();
#ifdef __ANDROID__
if (d.isNVidia())
return false;
#endif
const int cn = _src.channels();
if (cn > 4)
return false;
int type = _src.type(), depth = CV_MAT_DEPTH(type);
bool doubleSupport = d.doubleFPConfig() > 0,
haveMask = _mask.kind() != _InputArray::NONE;
if ( !(normType == NORM_INF || normType == NORM_L1 || normType == NORM_L2 || normType == NORM_L2SQR) ||
(!doubleSupport && depth == CV_64F))
return false;
UMat src = _src.getUMat();
if (normType == NORM_INF)
{
if (!ocl_minMaxIdx(_src, NULL, &result, NULL, NULL, _mask,
std::max(depth, CV_32S), depth != CV_8U && depth != CV_16U))
return false;
}
else if (normType == NORM_L1 || normType == NORM_L2 || normType == NORM_L2SQR)
{
Scalar sc;
bool unstype = depth == CV_8U || depth == CV_16U;
if ( !ocl_sum(haveMask ? src : src.reshape(1), sc, normType == NORM_L2 || normType == NORM_L2SQR ?
OCL_OP_SUM_SQR : (unstype ? OCL_OP_SUM : OCL_OP_SUM_ABS), _mask) )
return false;
double s = 0.0;
for (int i = 0; i < (haveMask ? cn : 1); ++i)
s += sc[i];
result = normType == NORM_L1 || normType == NORM_L2SQR ? s : std::sqrt(s);
}
return true;
}
cv::GlTexture::GlTexture(InputArray mat_, bool bgra) : rows_(0), cols_(0), type_(0), buf_(GlBuffer::TEXTURE_BUFFER)
{
#ifndef HAVE_OPENGL
(void)mat_;
(void)bgra;
throw_nogl;
#else
int kind = mat_.kind();
Size _size = mat_.size();
int _type = mat_.type();
switch (kind)
{
case _InputArray::OPENGL_BUFFER:
{
GlBuffer buf = mat_.getGlBuffer();
impl_ = new Impl(buf, bgra);
break;
}
case _InputArray::GPU_MAT:
{
#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
throw_nocuda;
#else
GpuMat d_mat = mat_.getGpuMat();
GlBuffer buf(d_mat, GlBuffer::TEXTURE_BUFFER);
impl_ = new Impl(buf, bgra);
#endif
break;
}
default:
{
Mat mat = mat_.getMat();
impl_ = new Impl(mat, bgra);
break;
}
}
rows_ = _size.height;
cols_ = _size.width;
type_ = _type;
#endif
}
void cv::ogl::Buffer::copyFrom(InputArray arr, Target target, bool autoRelease)
{
#ifndef HAVE_OPENGL
(void) arr;
(void) target;
(void) autoRelease;
throw_no_ogl();
#else
const int kind = arr.kind();
const Size asize = arr.size();
const int atype = arr.type();
create(asize, atype, target, autoRelease);
switch (kind)
{
case _InputArray::OPENGL_BUFFER:
{
ogl::Buffer buf = arr.getOGlBuffer();
impl_->copyFrom(buf.bufId(), asize.area() * CV_ELEM_SIZE(atype));
break;
}
case _InputArray::CUDA_GPU_MAT:
{
#ifndef HAVE_CUDA
throw_no_cuda();
#else
GpuMat dmat = arr.getGpuMat();
impl_->copyFrom(dmat.data, dmat.step, dmat.cols * dmat.elemSize(), dmat.rows);
#endif
break;
}
default:
{
Mat mat = arr.getMat();
CV_Assert( mat.isContinuous() );
impl_->copyFrom(asize.area() * CV_ELEM_SIZE(atype), mat.data);
}
}
#endif
}
void cv::GlBuffer::copyFrom(InputArray mat_)
{
#ifndef HAVE_OPENGL
(void)mat_;
throw_nogl;
#else
int kind = mat_.kind();
Size _size = mat_.size();
int _type = mat_.type();
create(_size, _type);
switch (kind)
{
case _InputArray::OPENGL_BUFFER:
{
GlBuffer buf = mat_.getGlBuffer();
*this = buf;
break;
}
case _InputArray::GPU_MAT:
{
#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
throw_nocuda;
#else
GpuMat d_mat = mat_.getGpuMat();
impl_->copyFrom(d_mat);
#endif
break;
}
default:
{
Mat mat = mat_.getMat();
impl_->copyFrom(mat, usage_);
}
}
#endif
}
GpuMat cv::cuda::getInputMat(InputArray _src, Stream& stream)
{
GpuMat src;
#ifndef HAVE_CUDA
(void) _src;
(void) stream;
throw_no_cuda();
#else
if (_src.kind() == _InputArray::CUDA_GPU_MAT)
{
src = _src.getGpuMat();
}
else if (!_src.empty())
{
BufferPool pool(stream);
src = pool.getBuffer(_src.size(), _src.type());
src.upload(_src, stream);
}
#endif
return src;
}
cv::ogl::Texture2D::Texture2D(InputArray arr, bool autoRelease) : rows_(0), cols_(0), format_(NONE)
{
#ifndef HAVE_OPENGL
(void) arr;
(void) autoRelease;
throw_no_ogl();
#else
const int kind = arr.kind();
const Size asize = arr.size();
const int atype = arr.type();
const int depth = CV_MAT_DEPTH(atype);
const int cn = CV_MAT_CN(atype);
CV_Assert( depth <= CV_32F );
CV_Assert( cn == 1 || cn == 3 || cn == 4 );
const Format internalFormats[] =
{
NONE, DEPTH_COMPONENT, NONE, RGB, RGBA
};
const GLenum srcFormats[] =
{
0, gl::DEPTH_COMPONENT, 0, gl::BGR, gl::BGRA
};
switch (kind)
{
case _InputArray::OPENGL_BUFFER:
{
ogl::Buffer buf = arr.getOGlBuffer();
buf.bind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
impl_.reset(new Impl(internalFormats[cn], asize.width, asize.height, srcFormats[cn], gl_types[depth], 0, autoRelease));
ogl::Buffer::unbind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
break;
}
case _InputArray::GPU_MAT:
{
#ifndef HAVE_CUDA
throw_no_cuda();
#else
GpuMat dmat = arr.getGpuMat();
ogl::Buffer buf(dmat, ogl::Buffer::PIXEL_UNPACK_BUFFER);
buf.bind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
impl_.reset(new Impl(internalFormats[cn], asize.width, asize.height, srcFormats[cn], gl_types[depth], 0, autoRelease));
ogl::Buffer::unbind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
#endif
break;
}
default:
{
Mat mat = arr.getMat();
CV_Assert( mat.isContinuous() );
ogl::Buffer::unbind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
impl_.reset(new Impl(internalFormats[cn], asize.width, asize.height, srcFormats[cn], gl_types[depth], mat.data, autoRelease));
break;
}
}
rows_ = asize.height;
cols_ = asize.width;
format_ = internalFormats[cn];
#endif
}
void cv::ogl::render(const ogl::Arrays& arr, InputArray indices, int mode, Scalar color)
{
#ifndef HAVE_OPENGL
(void) arr;
(void) indices;
(void) mode;
(void) color;
throw_no_ogl();
#else
if (!arr.empty() && !indices.empty())
{
gl::Color3d(color[0] / 255.0, color[1] / 255.0, color[2] / 255.0);
arr.bind();
const int kind = indices.kind();
switch (kind)
{
case _InputArray::OPENGL_BUFFER :
{
ogl::Buffer buf = indices.getOGlBuffer();
const int depth = buf.depth();
CV_Assert( buf.channels() == 1 );
CV_Assert( depth <= CV_32S );
GLenum type;
if (depth < CV_16U)
type = gl::UNSIGNED_BYTE;
else if (depth < CV_32S)
type = gl::UNSIGNED_SHORT;
else
type = gl::UNSIGNED_INT;
buf.bind(ogl::Buffer::ELEMENT_ARRAY_BUFFER);
gl::DrawElements(mode, buf.size().area(), type, 0);
ogl::Buffer::unbind(ogl::Buffer::ELEMENT_ARRAY_BUFFER);
break;
}
default:
{
Mat mat = indices.getMat();
const int depth = mat.depth();
CV_Assert( mat.channels() == 1 );
CV_Assert( depth <= CV_32S );
CV_Assert( mat.isContinuous() );
GLenum type;
if (depth < CV_16U)
type = gl::UNSIGNED_BYTE;
else if (depth < CV_32S)
type = gl::UNSIGNED_SHORT;
else
type = gl::UNSIGNED_INT;
ogl::Buffer::unbind(ogl::Buffer::ELEMENT_ARRAY_BUFFER);
gl::DrawElements(mode, mat.size().area(), type, mat.data);
}
}
}
#endif
}
void cv::ogl::Texture2D::copyFrom(InputArray arr, bool autoRelease)
{
#ifndef HAVE_OPENGL
(void) arr;
(void) autoRelease;
throw_nogl();
#else
const int kind = arr.kind();
const Size asize = arr.size();
const int atype = arr.type();
const int depth = CV_MAT_DEPTH(atype);
const int cn = CV_MAT_CN(atype);
CV_Assert( depth <= CV_32F );
CV_Assert( cn == 1 || cn == 3 || cn == 4 );
const Format internalFormats[] =
{
NONE, DEPTH_COMPONENT, NONE, RGB, RGBA
};
const GLenum srcFormats[] =
{
0, gl::DEPTH_COMPONENT, 0, gl::BGR, gl::BGRA
};
create(asize, internalFormats[cn], autoRelease);
switch(kind)
{
case _InputArray::OPENGL_BUFFER:
{
ogl::Buffer buf = arr.getOGlBuffer();
buf.bind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
impl_->copyFrom(asize.width, asize.height, srcFormats[cn], gl_types[depth], 0);
ogl::Buffer::unbind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
break;
}
case _InputArray::GPU_MAT:
{
#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
throw_nocuda();
#else
GpuMat dmat = arr.getGpuMat();
ogl::Buffer buf(dmat, ogl::Buffer::PIXEL_UNPACK_BUFFER);
buf.bind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
impl_->copyFrom(asize.width, asize.height, srcFormats[cn], gl_types[depth], 0);
ogl::Buffer::unbind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
#endif
break;
}
default:
{
Mat mat = arr.getMat();
CV_Assert( mat.isContinuous() );
ogl::Buffer::unbind(ogl::Buffer::PIXEL_UNPACK_BUFFER);
impl_->copyFrom(asize.width, asize.height, srcFormats[cn], gl_types[depth], mat.data);
}
}
#endif
}
void cv::imshow( const std::string& winname, InputArray _img )
{
#ifndef HAVE_OPENGL
Mat img = _img.getMat();
CvMat c_img = img;
cvShowImage(winname.c_str(), &c_img);
#else
const double useGl = getWindowProperty(winname, WND_PROP_OPENGL);
if (useGl <= 0)
{
Mat img = _img.getMat();
CvMat c_img = img;
cvShowImage(winname.c_str(), &c_img);
}
else
{
const double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);
if (autoSize > 0)
{
Size size = _img.size();
resizeWindow(winname, size.width, size.height);
}
setOpenGlContext(winname);
if (_img.kind() == _InputArray::OPENGL_TEXTURE)
{
cv::ogl::Texture2D& tex = wndTexs[winname];
tex = _img.getOGlTexture2D();
tex.setAutoRelease(false);
setOpenGlDrawCallback(winname, glDrawTextureCallback, &tex);
}
else
{
cv::ogl::Texture2D& tex = ownWndTexs[winname];
if (_img.kind() == _InputArray::GPU_MAT)
{
cv::ogl::Buffer& buf = ownWndBufs[winname];
buf.copyFrom(_img);
buf.setAutoRelease(false);
tex.copyFrom(buf);
tex.setAutoRelease(false);
}
else
{
tex.copyFrom(_img);
}
tex.setAutoRelease(false);
setOpenGlDrawCallback(winname, glDrawTextureCallback, &tex);
}
updateWindow(winname);
}
#endif
}
